Local Approach Planning Method of Underground Unmanned Vehicle in Mining Area Under Global Constraints
Due to the particularity of underground operation in mining area, there are high requirements for production safety. With the rapid development of unmanned driving technology, the related technology of using unmanned vehicles to complete underground transportation tasks in mining area has been widely concerned. The transportation approach is usually a predefined global approach. However, scenes in mining area change dynamically and new obstacles will appear, so unmanned vehicles need to plan local approaches in real time. According to the characteristics of underground work in mining area, this paper proposed a local approach planning method under global constraints. On the one hand, the approach obtained by the approach planning should satisfy the constraint of the global approach to ensure moving according to the predefined approach; on the other hand, it should satisfy the constraint of the local approach, avoid obstacles and make the most efficient use of the acceleration of the vehicle to keep the speed. To verify the proposed method, an experiment was carried out in the actual underground scene of mining area, and the experimental results proved the effectiveness of this method.